Alteration of robot’s decision with various initialisation
Kui, Zhi Xiang
Date of Issue2017-06-08
School of Mechanical and Aerospace Engineering
The Singapore Robotic Games is an event similar to an Olympic, except that it is an event consisting of robots. This event comes with cash prizes to competitors, and is susceptible to cheating where the competitor may alter the decision of the robot especially in the autonomous category. This research observes how various initialization methods can alter the decision made by the users. By using two different input devices, mainly momentary switches and joystick controller, it illustrates how altering of decisions can be made. Experiments conducted include how competitors may modify the decision using method such as the duration of button depressed, combination of button depressions, and the direction of joystick pushed. Amongst the mentioned, joystick tend to be a better choice when it comes to altering of decision. Calculations are made to determine the base circle when the joystick is retracted back, and the area unit of a single outcomes when the joystick is depressed at a certain angle. However, it may not be determined easily as the coordinate is inconsistent whether the joystick is depressed or retracted back. An engineering strategy to this is to propose a control chart so that all the uncertainty coordinates can be controlled and happen within that boundary area. It is evaluated that there is a possibility of having a total of 72 different outcomes, within a single press. This project aims to create a device that only produces a fixed outcome, to prevent competitors from cheating. Prior to that, electrical measurements are conducted on the joystick controller, to observe the behaviour of its voltage when it is depressed. The value of the Arduino reading can also be manipulated if either one of the voltage or resistor value changes, which relates to ohm’s law. The solution is by using a variable resistor connected in series to the joystick to ensure a fixed outcome, regardless of the direction pushed.
Final Year Project (FYP)
Nanyang Technological University